CN108090522B

CN108090522B - Control method of card sender and card sender

Info

Publication number: CN108090522B
Application number: CN201711399087.4A
Authority: CN
Inventors: 温兴波; 薛明明; 李强
Original assignee: Advance Card Technology Co Ltd
Current assignee: Advance Card Technology Co Ltd
Priority date: 2017-12-19
Filing date: 2017-12-19
Publication date: 2021-03-16
Anticipated expiration: 2037-12-19
Also published as: CN108090522A

Abstract

The invention provides a control method of a card sender and the card sender, after receiving a starting command, a control motor rotates a card slot zero position of a first chuck to a first preset detection position, then the control motor drives the first chuck to rotate for a circle from the first preset detection position to check cards in the first chuck, then the control motor rotates a card slot zero position of a second chuck to a second preset detection position, and the control motor drives the second chuck to rotate for a circle from the second preset detection position to check cards in the second chuck, when receiving a card fetching/supplementing command, the control motor rotates a target card slot to a preset card fetching/supplementing station and obtains an angular displacement of a motor output shaft and a linear displacement of the target card slot, when the two are matched, a control card storage device fetches or supplements cards from the preset card fetching/supplementing station, the safety and the reliability of the card sender are improved.

Description

Control method of card sender and card sender

Technical Field

The invention relates to the technical field of card senders, in particular to a control method of a card sender and the card sender.

Background

The existing card sender generally comprises a chuck for storing the smart card, a transmission assembly for controlling the rotation of the chuck, a card feeding assembly for supplementing the card and a card discharging assembly for taking the card; when the card is supplemented, the smart card is stored in different storage positions of the chuck by using the card feeding assembly, and the storage position of each smart card is recorded; when the card is taken out, the transmission assembly is used for controlling the chuck to rotate to a specified position, and the required intelligent card is taken out by the card outlet assembly. However, because the smart cards are densely distributed on the chuck and the positions of the smart cards are determined according to the angular displacement information of the transmission assembly, when an angular displacement error exists, card taking errors are easily caused, and the safety and the reliability of card taking are affected.

Disclosure of Invention

The invention mainly aims to provide a control method of a card sender, aiming at improving the safety and the reliability of the card sender.

In order to achieve the above object, the present invention provides a method for controlling a card sender, where the card sender includes a first chuck and a second chuck for storing cards, a motor for driving the first chuck and the second chuck to rotate synchronously, and a card access device for taking/supplementing cards, where the first chuck and the second chuck both have card slots for storing cards, the first chuck is further provided with a first protrusion for marking a zero point position of the card slot, the second chuck is further provided with a second protrusion for marking a zero point position, and the method for controlling a card sender includes the following steps:

after a starting instruction is received, controlling a motor to rotate the zero position of a clamping groove of a first chuck to a first preset detection position;

controlling a motor to drive the first chuck to rotate for a circle from the first preset detection position so as to count the cards in the first chuck;

controlling a motor to rotate the zero position of the clamping groove of the second chuck to a second preset detection position;

controlling a motor to drive the second chuck to rotate for a circle from the second preset detection position so as to count the cards in the second chuck;

when a card taking/supplementing command is received, controlling a motor to rotate a target card slot to a preset card taking/supplementing station, and acquiring angular displacement of an output shaft of the motor and linear displacement of the target card slot;

and when the angular displacement is matched with the linear displacement, controlling the card access device to take or supplement the card from the preset card taking/supplementing station.

Furthermore, the card sender also comprises a first detection component arranged at a first preset detection position and a second detection component arranged at a second preset detection position;

after receiving the start-up instruction, the step of controlling the motor to rotate the draw-in groove zero position of the first chuck to a first preset detection position comprises:

after a starting-up instruction is received, controlling a motor to drive the first chuck to rotate, and controlling the first detection assembly to scan a first bulge on the first chuck;

when the first bulge is scanned, controlling a motor to fix the zero position of the clamping groove of the first chuck corresponding to the first bulge at the first preset detection position;

the step that control motor rotated the draw-in groove zero point position of second chuck to the second and predetermine detection position includes:

controlling a motor to drive the second chuck to rotate and controlling the second detection assembly to scan a second bump on the second chuck;

and when the second bulge is scanned, controlling a motor to fix the zero position of the clamping groove of the second chuck corresponding to the second bulge at the second preset detection position.

Further, first chuck includes first annular subregion, second annular subregion and the annular subregion of third that encircles from inside to outside in proper order, first annular subregion, second annular subregion and the annular subregion of third all are provided with a plurality of draw-in grooves, the ratio of draw-in groove quantity of first annular subregion, second annular subregion and the annular subregion of third is 1: 2: 3, the peripheries of one sides, close to the first detection assembly, of the first annular partition, the second annular partition and the third annular partition are provided with first tooth sockets corresponding to the clamping grooves;

the second chuck includes fourth annular subregion, fifth annular subregion and the sixth annular subregion that encircles from inside to outside in proper order, fourth annular subregion, fifth annular subregion and sixth annular subregion all are provided with a plurality of draw-in grooves, the ratio of draw-in groove quantity of fourth annular subregion, fifth annular subregion and sixth annular subregion is 1: 2: 3, the peripheries of one sides, close to the second detection assembly, of the fourth annular partition, the fifth annular partition and the sixth annular partition are provided with second tooth sockets corresponding to the clamping grooves;

the control motor drives first chuck is followed first preset detects the position and rotates a week to the step of the card in the first chuck of check includes:

controlling a motor to drive the first chuck to rotate anticlockwise or clockwise for a circle from the first preset detection position, and controlling the first detection assembly to count whether cards are stored in the clamping grooves of the first annular partition, the second annular partition and the third annular partition;

the control motor drives the second chuck is followed the second is predetermine and is detected the position and rotate a week to the step of the card in the second chuck is chequered, includes:

and controlling a motor to drive the second chuck to rotate anticlockwise or clockwise for a circle from the second preset detection position, and controlling the second detection assembly to count whether cards are stored in the clamping grooves of the fourth annular partition, the fifth annular partition and the sixth annular partition.

Further, after controlling the motor to rotate the slot zero position of the second chuck to a second preset detection position, the control method further includes:

and calculating a difference compensation value between the zero-point position of the card slot of the first chuck and the zero-point position of the card slot of the second chuck.

Further, when receiving a card fetching/supplementing command, the step of controlling the motor to rotate the target card slot to a preset card fetching/supplementing station and acquiring the angular displacement of the output shaft of the motor and the linear displacement of the target card slot includes:

when a card taking/supplementing instruction is received, acquiring a target card slot pointed by the card taking/supplementing instruction;

controlling a motor to rotate so as to rotate the target card slot to a preset card taking/supplementing station, and calculating the angular displacement of an output shaft of the motor according to the operation parameters and the operation time of the motor;

and calculating the linear displacement of the target card slot according to the number of tooth grooves of the rotation of the chuck recorded by the first detection assembly or the second detection assembly.

Further, the step of controlling the motor to rotate so as to rotate the target card slot to the preset card taking/supplementing station comprises the following steps:

acquiring an angle a of a target card slot relative to a preset card taking/supplementing station;

when a is more than 0 degrees and less than 180 degrees, controlling a motor to rotate anticlockwise so as to rotate the target card slot to a preset card taking/supplementing station;

and when a is more than or equal to 180 degrees and less than 360 degrees, controlling the motor to rotate clockwise so as to rotate the target card slot to a preset card taking/supplementing station.

Further, when receiving the card supplementing instruction, the control motor rotates the target card slot to the preset card supplementing station, and obtains the output shaft angular displacement of the motor and the linear displacement of the target card slot, including:

when a card supplementing command is received, taking an empty card slot with the smallest relative angle with a preset card supplementing station in the first chuck or the second chuck as a target card slot;

controlling a motor to rotate anticlockwise or clockwise to rotate the target card slot to a preset card supplementing station, and calculating the angular displacement of an output shaft of the motor according to the operation parameters and the operation time of the motor;

Further, the step of calculating the linear displacement of the target card slot according to the number of tooth grooves of the chuck rotation recorded by the first detection component comprises:

when the target clamping groove is the clamping groove of the first chuck, calculating the linear displacement of the target clamping groove according to the first tooth space number of the first chuck in rotation recorded by the first detection assembly;

when the target clamping groove is a clamping groove of the second chuck, calculating the linear displacement of the target clamping groove according to the first tooth groove number of the first chuck in rotation recorded by the first detection assembly and the difference compensation value;

and calculating the linear displacement of the target card slot according to the number of tooth grooves of the chuck rotation recorded by the second detection assembly, wherein the step comprises the following steps:

when the target clamping groove is the clamping groove of the first chuck, calculating the linear displacement of the target clamping groove according to the number of second grooves, which are recorded by the second detection assembly, of the second chuck in rotation and the difference compensation value;

and when the target clamping groove is the clamping groove of the second chuck, calculating the linear displacement of the target clamping groove according to the second number of the grooves, recorded by the second detection component, of the second chuck in rotation.

Further, the step of controlling the card access device to pick up or add the card from the preset card picking/adding station when the angular displacement is matched with the linear displacement comprises:

when the angular error after the conversion of the angular displacement and the linear displacement is smaller than a first preset threshold value, controlling a card access device to take a card from a preset card taking station or supplement the card from a preset card supplementing station; or the like, or, alternatively,

and when the length error of the linear displacement and the converted angular displacement is smaller than a second preset threshold value, controlling a card access device to take the card from the preset card taking station or supplement the card from the preset card supplementing station.

The invention further provides a card sender, which comprises a first chuck and a second chuck for storing cards, a motor for driving the first chuck and the second chuck to synchronously rotate, and a card access device for taking/supplementing cards, wherein the first chuck and the second chuck are respectively provided with a card slot for storing the cards, the first chuck is also provided with a first bulge for marking the zero point position of the card slot, the second chuck is also provided with a second bulge for marking the zero point position, the card sender also comprises a memory, a processor and a control program of the card sender, the control program of the card sender is stored in the memory and can run on the processor, and the control program of the card sender is executed by the processor to realize the steps of the control method of the card sender.

The control method of the card sender provided by the embodiment of the invention is applied to a card access device which comprises a first chuck and a second chuck for storing cards, a motor for driving the first chuck and the second chuck to synchronously rotate, and a card for taking/supplementing the cards, wherein the first chuck and the second chuck are respectively provided with a clamping groove for storing the cards, the first chuck is also provided with a first bulge for marking the zero position of the clamping groove, the second chuck is also provided with a second bulge for marking the zero position, after a starting instruction is received, the motor is controlled to rotate the zero position of the clamping groove of the first chuck to a first preset detection position, then the motor is controlled to drive the first chuck to rotate for one circle from the first preset detection position to pick up the cards in the first chuck, then the motor is controlled to rotate the zero position of the clamping groove of the second chuck to a second preset detection position, and the motor is controlled to drive the second chuck to rotate for one circle from the second preset detection position to pick up the cards in the second chuck Checking the cards, controlling the motor to rotate the target card slot to a preset card taking/supplementing station when receiving a card taking/supplementing command, acquiring the angular displacement of an output shaft of the motor and the linear displacement of the target card slot, and taking or supplementing the cards from the preset card taking/supplementing station by using a control card storage device when the angular displacement is matched with the linear displacement. The control method compares the angular displacement of the motor output shaft with the linear displacement of the target card slot, and controls the card access device to take or supplement the card when the angular displacement of the motor output shaft is matched with the linear displacement of the target card slot.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic diagram of a hardware configuration of an embodiment of the card sender of the present invention;

fig. 2 is a flowchart of a first embodiment of a method for controlling a card issuer according to the present invention;

fig. 3 is a flowchart of a second embodiment of a method for controlling a card issuer according to the present invention;

fig. 4 is a detailed flowchart of step S10 in fig. 2 and 3;

FIG. 5 is a detailed flowchart of one embodiment of step S30 in FIGS. 2 and 3;

FIG. 6 is a detailed flowchart of the first embodiment of step S50 in FIGS. 2 and 3;

fig. 7 is a detailed flowchart of the second embodiment of step S50 in fig. 2 and 3.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, fig. 1 is a schematic diagram of a hardware structure of an embodiment of the card sender of the present invention.

As shown in fig. 1, the card sender 100 may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display unit (Display) and an input unit, such as an interactive interface, in the present invention, the card sender 100 may interact with a user terminal during software operation, when performing parameter setting or debugging on the card sender 100, a tester or a setter may input data information by using the user interface 1003, and the optional user interface 1003 may further include a standard wired interface or a standard wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Optionally, the card sender 100 may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, audio sampling sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display unit according to the brightness of ambient light, and a proximity sensor that turns on the display unit and/or backlight when detecting that a person walks into the card sender 100. As one of the motion sensors, the gravity acceleration sensor may detect the magnitude of acceleration in each direction (generally, three axes), and may detect the magnitude and direction of gravity when stationary, and may be used for applications (such as magnetometer attitude calibration) for recognizing the attitude of the mobile terminal, and related functions (such as tapping) of vibration recognition; as a sound pickup element, the audio sampling sensor is mainly used for collecting environmental sounds around the sound system; of course, the card sender 100 may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.

Those skilled in the art will appreciate that the hardware configuration shown in fig. 1 does not constitute a limitation of card issuer 100 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

The main solution of the embodiment of the invention is as follows: after a starting command is received, a control motor rotates the zero position of a clamping groove of a first chuck to a first preset detection position, then the control motor drives the first chuck to rotate for a circle from the first preset detection position to check a card in the first chuck, then the control motor rotates the zero position of the clamping groove of a second chuck to a second preset detection position, the control motor drives the second chuck to rotate for a circle from the second preset detection position to check the card in the second chuck, when the card taking/supplementing command is received, the control motor rotates a target clamping groove to a preset card taking/supplementing station and obtains the angular displacement of a motor output shaft and the linear displacement of a target clamping groove, and when the angular displacement is matched with the linear displacement, a control card storage device takes or supplements the card from the preset card taking/supplementing station.

The control method compares the angular displacement of the motor output shaft with the linear displacement of the target card slot, and controls the card access device to take or supplement the card when the angular displacement of the motor output shaft is matched with the linear displacement of the target card slot.

As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include an operating system, a network communication module, and a control program of the card issuer therein.

With further reference to fig. 1, in the card sender 100 shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server or a big data cloud, and performing data communication with the backend server or the big data cloud; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; the card sender comprises a first chuck and a second chuck for storing cards, a motor for driving the first chuck and the second chuck to synchronously rotate, and a card access device for taking/supplementing the cards, wherein the first chuck and the second chuck are respectively provided with a clamping groove for storing the cards, the first chuck is also provided with a first bulge for marking the zero position of the clamping groove, and the second chuck is also provided with a second bulge for marking the zero position;

Further, the card sender further includes a first detection component set at the first preset detection bit, and the processor 1001 may further call a control program of the card sender stored in the memory 1005 to perform the following operations:

and when the first bulge is scanned, controlling a motor to fix the zero position of the clamping groove of the first chuck corresponding to the first bulge at the first preset detection position.

Further, the card sender further includes a second detection component set at a second preset detection bit, and the processor 1001 may further call a control program of the card sender stored in the memory 1005 to perform the following operations:

Further, first chuck includes first annular subregion, second annular subregion and the annular subregion of third that encircles from inside to outside in proper order, first annular subregion, second annular subregion and the annular subregion of third all are provided with a plurality of draw-in grooves, the ratio of draw-in groove quantity of first annular subregion, second annular subregion and the annular subregion of third is 1: 2: 3, the peripheries of one sides, close to the first detection assembly, of the first annular partition, the second annular partition and the third annular partition are provided with first tooth sockets corresponding to the clamping grooves; processor 1001 may also invoke a control program of the card issuer stored in memory 1005 to perform the following operations:

and controlling a motor to drive the first chuck to rotate for a circle anticlockwise or clockwise from the first preset detection position, and controlling the first detection assembly to count whether cards are stored in the clamping grooves of the first annular partition, the second annular partition and the third annular partition.

Further, the second chuck includes fourth annular subregion, fifth annular subregion and the sixth annular subregion that encircles from inside to outside in proper order, fourth annular subregion, fifth annular subregion and sixth annular subregion all are provided with a plurality of draw-in grooves, the ratio of the draw-in groove quantity of fourth annular subregion, fifth annular subregion and sixth annular subregion is 1: 2: 3, the peripheries of one sides, close to the second detection assembly, of the fourth annular partition, the fifth annular partition and the sixth annular partition are provided with second tooth sockets corresponding to the clamping grooves; processor 1001 may also invoke a control program of the card issuer stored in memory 1005 to perform the following operations:

Further, processor 1001 may also call a control program of the card issuer stored in memory 1005 to perform the following operations:

and when the target clamping groove is the clamping groove of the second chuck, calculating the linear displacement of the target clamping groove according to the first tooth groove number of the first chuck in rotation recorded by the first detection assembly and the difference compensation value.

The invention further provides a control method of the card sender.

Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of a method for controlling a card issuer according to the present invention.

In this embodiment, the card sender includes first chuck and second chuck, drive that is used for depositing the card first chuck and the synchronous pivoted motor of second chuck and be used for getting the card/mend the card access arrangement of card, first chuck and second chuck all have the draw-in groove that is used for depositing the card, first chuck still is equipped with the first arch that is used for marking draw-in groove zero point position, the second chuck still is equipped with the second arch that is used for marking zero point position, the control method of card sender includes following step:

s10: after a starting instruction is received, controlling a motor to rotate the zero position of a clamping groove of a first chuck to a first preset detection position;

in this embodiment, card sender mainly used disorder is got the card and is mended the card out of order, card sender is including first chuck and the second chuck that is used for depositing the card, drive first chuck and the synchronous pivoted motor of second chuck and be used for getting the card/mend the card access arrangement of card, in other embodiments, the chuck can also only set up one, the motor is step motor, through the output shaft to first chuck and second chuck provide radial moment of torsion and drive first chuck and second chuck rotate, card access arrangement is controlled the vacancy horizontal migration between first chuck and second chuck by the manipulator to remove to predetermineeing to get the card station and get the card from the draw-in groove in first chuck or the second chuck, or remove to predetermineeing to mend to supplement the card station and fill the card to the draw-in groove of first chuck or second chuck. In order to measure the clamping groove of the first chuck, a first bulge used for marking the zero position of the clamping groove is further arranged on one side of the first chuck back to the card taking port and the card supplementing port, and the clamping groove of the first chuck can be labeled according to the first bulge so as to be distinguished. Simultaneously, in order to measure the draw-in groove of second chuck for the convenience, still be equipped with the second arch that is used for marking draw-in groove zero point position in one side of second chuck back to getting bayonet socket and mend the card mouth, according to the second arch can carry out the reference numeral so that distinguish to the draw-in groove of second chuck. The card in this embodiment may be a smart card, an identification card, an IC card, a certificate card, or the like, and the whole card fetching or supplementing process is as follows:

when a user needs to fill a card in a chuck of a card sender or take the card from a card slot of the chuck, the on-off key of the card sender is clicked to trigger a starting instruction, after the starting instruction is received, the motor is controlled to rotate according to a control program preset in the control module, so that the torque force for rotating the chuck is provided to a first chuck through the output shaft, the zero position of the card slot of the first chuck is rotated to a first preset detection position, the first preset detection position is provided with a first detection assembly, the first detection assembly comprises a first convex sensor used for marking the zero position of the card slot, and the sensor can be a position sensor or a proximity sensor or an infrared sensor.

S20: controlling a motor to drive the first chuck to rotate for a circle from the first preset detection position so as to count the cards in the first chuck;

the card slot zero point position of finding first chuck, and will card slot zero point position rotates after first predetermineeing the detection position, need check to the card information in the first chuck to confirm which draw-in groove has been put the card, which are empty card groove so that mend the card and get the card, the check mode of adoption is that the control motor drives the first chuck of prime number and follows predetermine the detection position and rotate, utilize the sensor in the first detection component to deposit information to the card in each draw-in groove and gather, reply the first predetermined detection position with the draw-in groove initial point position of first chuck after checking the card in the first chuck.

S30: controlling a motor to rotate the zero position of the clamping groove of the second chuck to a second preset detection position;

because the card sender of this embodiment still includes the second chuck with first chuck synchronous revolution, so after checking the card information in to first chuck, still need rotate according to the control program control motor that presets in the control module group to provide the pivoted torsion of confession second chuck through output shaft to the second chuck, rotate the draw-in groove zero point position of second chuck to the second and predetermine and detect the position, the second is predetermine and is detected the position and be provided with the second detection module, the second detection module is including the sensor that is used for detecting the protruding second that marks draw-in groove zero point position, the sensor can be position sensor also can be proximity sensor, can also be infrared sensor.

S40: controlling a motor to drive the second chuck to rotate for a circle from the second preset detection position so as to count the cards in the second chuck;

at the draw-in groove zero point position who finds the second chuck, and will draw-in groove zero point position rotates and predetermines after detecting the position to the second, need carry out the check to the card information in the second chuck to confirm which draw-in groove has put the card in, which are empty card groove so that mend the card and get the card, the check mode of adoption is that the control motor drives the second chuck is followed the second is predetermine and is detected the position rotation, utilizes the sensor in the second detection element to deposit information to the card in each draw-in groove and gathers, and the card that carries out the check in the second chuck is replied the draw-in groove initial point position of second chuck to the second and is predetermine and detect the position.

S50: when a card taking/supplementing command is received, controlling a motor to rotate a target card slot to a preset card taking/supplementing station, and acquiring angular displacement of an output shaft of the motor and linear displacement of the target card slot;

after card checking is completed, a card taking instruction or a card supplementing instruction can be triggered according to a preset control program, when the card taking/supplementing instruction is received, a motor is controlled to rotate a target card slot corresponding to the card taking/supplementing instruction to a preset card taking/supplementing station, a card access device is controlled to move to the preset card taking/supplementing station, angular displacement of an output shaft of the motor is obtained according to operation parameters and operation time of the motor, linear displacement of the target card slot is calculated according to the number of tooth grooves collected by a sensor when the target card slot recorded by a first detection assembly or a second detection assembly rotates to the preset card taking/supplementing station, and the target card slot may be in a first chuck or a second chuck.

S60: and when the angular displacement is matched with the linear displacement, controlling the card access device to take or supplement the card from the preset card taking/supplementing station.

And finally, judging an error value obtained after conversion of the angular displacement of the motor output shaft and the linear displacement of the target card slot according to a preset control program, and controlling the card access device to take the card from the preset card taking station or supplement the card to the target card slot from the preset card supplementing station when the error value obtained after conversion of the angular displacement of the motor output shaft and the linear displacement of the target card slot is smaller than a preset threshold value.

Further, referring to fig. 3, a second embodiment is provided based on the method for controlling a card issuer according to the first embodiment, and in this embodiment, after step S40, the method further includes:

s70: and calculating a difference compensation value between the zero-point position of the card slot of the first chuck and the zero-point position of the card slot of the second chuck.

In this embodiment, because there may be an angle difference between the zero-point slot position of the first chuck and the zero-point slot position of the second chuck, a relative linear displacement difference between the first protrusion and the second protrusion, that is, a difference compensation value between the zero-point slot position of the first chuck and the zero-point slot position of the second chuck may be calculated according to the angle difference between the two, and then the number of teeth grooves of the other chuck, which rotate with the card slot and differ by the difference compensation value from the card slot, may be obtained according to the number of teeth grooves of one card slot of the chuck, which is recorded by any one of the detection assemblies. When the difference compensation value is calculated, when the zero position of the clamping groove of the first chuck is fixed at a first preset detection position, the angular displacement theta of the output shaft of the motor is recorded₁When the zero position of the clamping groove of the second chuck is fixed at a second preset detection position, recording the angular displacement theta of the output shaft of the motor₂According to theta₁And theta₂The difference between the first and second projections and the perpendicular distance from the first or second projection to the output shaft of the motor is calculated.

Further, referring to fig. 4, the card sender further includes a first detection component disposed at a first preset detection position, and the step S10 of the method for controlling the card sender according to the above embodiment includes:

s11: after a starting-up instruction is received, controlling a motor to drive the first chuck to rotate, and controlling the first detection assembly to scan a first bulge on the first chuck;

s12: and when the first bulge is scanned, controlling a motor to fix the zero position of the clamping groove of the first chuck corresponding to the first bulge at the first preset detection position.

In this embodiment, the card sender further includes a first detection assembly disposed at a first preset detection position, the first preset detection position and a preset card taking/supplementing station are disposed at two ends of the first chuck, an included angle between the first preset detection position and the preset card taking/supplementing station is 180 degrees, the first detection assembly includes a plurality of sensors to collect different data of the chuck, for example, a sensor mainly detects a first protrusion for marking a zero point position of the card slot, after receiving a power-on command, controls the motor to rotate clockwise or counterclockwise based on a preset control program to drive the first chuck to rotate clockwise or counterclockwise, controls the first detection assembly to scan the first protrusion on the first chuck during rotation of the first chuck to determine a zero point position of the card slot on the first chuck, and when scanning the first protrusion, determines the zero point position of the card slot equivalently, in order to facilitate subsequent checking of the cards in the first chuck clamping groove, the motor is controlled to fix the zero position of the clamping groove corresponding to the first protrusion at the first preset detection position.

Further, referring to fig. 5, the card sender further includes a second detection component disposed at a second preset detection position, and based on the control method of the card sender of the foregoing embodiment, step S30 includes:

s31: controlling a motor to drive the second chuck to rotate and controlling the second detection assembly to scan a second bump on the second chuck;

s32: and when the second bulge is scanned, controlling a motor to fix the zero position of the clamping groove of the second chuck corresponding to the second bulge at the second preset detection position.

In this embodiment, the card sender further includes a second detection assembly disposed at a second preset detection position, the second preset detection position and the preset card taking/supplementing station are disposed at two ends of the second chuck, an included angle between the second detection assembly and the preset card taking/supplementing station is 180 degrees, the second detection assembly includes a plurality of sensors to collect different data of the chuck, for example, a sensor mainly detects a second protrusion for marking a zero point position of the card slot, after checking the card in the first chuck, the motor is controlled to rotate clockwise or counterclockwise based on a preset control program to drive the second chuck to rotate clockwise or counterclockwise, the second detection assembly is controlled to scan the second protrusion on the second chuck during rotation of the second chuck to determine a zero point position of the card slot on the second chuck, when the second protrusion is scanned, the zero point position of the card slot is determined, in order to facilitate subsequent checking of the cards in the clamping grooves of the second chuck, the motor is controlled to fix the zero position of the clamping groove corresponding to the second protrusion at the second preset detection position.

In this embodiment, the first chuck is divided into a first annular partition, a second annular partition and a third annular partition, the first annular partition, the second annular partition and the third annular partition are sequentially distributed around the first chuck from inside to outside, each annular partition is provided with a plurality of clamping grooves, but due to the fact that the areas of the annular partitions are different, the number of the clamping grooves of each annular partition is inconsistent, in order to position a target clamping groove and further quickly achieve card taking or card supplementing, the clamping groove data of the first annular partition, the second annular partition and the third annular partition maintain a certain proportional relationship, for example, the ratio of the number of the clamping grooves of the first annular partition, the second annular partition and the third annular partition is 1: 2: for example, the first ring partition has 90 slots, the second ring partition has 180 slots, and the third ring partition has 270 slots. In addition, in order to calculate the linear displacement of the target card slot, the peripheries of the first annular partition, the second annular partition and the third annular partition, which are close to one side of the first detection assembly, are provided with first tooth sockets corresponding to the card slot, for example, 270 first tooth sockets are arranged at the outermost peripheral edge of the third annular partition, 180 first tooth sockets are arranged at the outermost peripheral edge of the second annular partition, 90 first tooth sockets are arranged at the outermost peripheral edge of the first annular partition, the first tooth sockets of each annular partition are uniformly distributed, and the distance between any two adjacent first tooth sockets is determined, so that the linear displacement of the target card slot can be conveniently calculated according to the number of the first tooth sockets scanned by the sensor. When checking the card in the first chuck, the control motor drives first chuck is followed first predetermine and detect a position anticlockwise or clockwise rotation a week, and control whether card has been deposited in the first annular subregion's of sensor check draw-in groove of first annular subregion of first detection module correspondence, whether card has been deposited in the second annular subregion's of sensor check draw-in groove of corresponding second annular subregion, whether card has been deposited in the third annular subregion's of sensor check draw-in groove of corresponding third annular subregion.

Further, the second chuck includes fourth annular subregion, fifth annular subregion and the sixth annular subregion that encircles from inside to outside in proper order, fourth annular subregion, fifth annular subregion and sixth annular subregion all are provided with a plurality of draw-in grooves, the ratio of the draw-in groove quantity of fourth annular subregion, fifth annular subregion and sixth annular subregion is 1: 2: 3, the peripheries of one sides, close to the second detection assembly, of the fourth annular partition, the fifth annular partition and the sixth annular partition are provided with second tooth sockets corresponding to the clamping grooves;

In this embodiment, the second chuck is divided into a fourth annular partition, a fifth annular partition and a sixth annular partition, the fourth annular partition, the fifth annular partition and the sixth annular partition are sequentially distributed around the second chuck from inside to outside, each annular partition is provided with a plurality of slots, but due to the different areas of the annular partitions, the number of the slots of each annular partition is inconsistent, so as to position a target slot and quickly achieve card taking or card supplementing, the slot data of the fourth annular partition, the fifth annular partition and the sixth annular partition maintain a certain proportional relationship, for example, the ratio of the number of the slots of the fourth annular partition, the fifth annular partition and the sixth annular partition is 1: 2: for example, the fourth annular partition has 90 slots, the fifth annular partition has 180 slots, and the sixth annular partition has 270 slots. In addition, in order to calculate the linear displacement of the target card slot, second tooth sockets corresponding to the card slot are respectively arranged on the peripheries of one sides, close to the second detection assembly, of the fourth annular partition, the fifth annular partition and the sixth annular partition, for example, 270 second tooth sockets are arranged on the outermost peripheral edge of the sixth annular partition, 180 second tooth sockets are arranged on the outermost peripheral edge of the fifth annular partition, 90 second tooth sockets are arranged on the outermost peripheral edge of the fourth annular partition, the second tooth sockets of each annular partition are uniformly distributed, and the distance between any two adjacent second tooth sockets is determined, so that the linear displacement of the target card slot can be conveniently calculated according to the number of the second tooth sockets scanned by the sensor. When checking the card in the second chuck, the control motor drives the second chuck is followed the second is preset and is detected a position anticlockwise or clockwise rotation a week, and control whether the card has been deposited in the sensor that corresponds fourth annular subregion checks the draw-in groove of fourth annular subregion, whether the card has been deposited in the sensor that corresponds fifth annular subregion checks the draw-in groove of fifth annular subregion, whether the card has been deposited in the sensor that corresponds sixth annular subregion checks the draw-in groove of sixth annular subregion.

Further, referring to fig. 6, the first embodiment of step S50 based on the control method of the card issuer according to the above embodiment includes:

s51: when a card taking/supplementing instruction is received, acquiring a target card slot pointed by the card taking/supplementing instruction;

s52: controlling a motor to rotate so as to rotate the target card slot to a preset card taking/supplementing station, and calculating the angular displacement of an output shaft of the motor according to the operation parameters and the operation time of the motor;

s53: and calculating the linear displacement of the target card slot according to the number of tooth grooves of the rotation of the chuck recorded by the first detection assembly or the second detection assembly.

In this embodiment, after the card issuing machine completes the counting operation of the cards in the chuck through the sensor in the detection component, the acquired card slot and card information in the chuck are transmitted to the processor or the electronic control module of the card issuing machine, so as to obtain the card position information in the chuck. When a card fetching instruction is received, a target card pointed by the card fetching instruction is obtained, the target card can be located in a card slot of a first chuck and also can be located in a card slot of a second chuck, the card is conveniently and quickly fetched from the card slot of the chuck, and the position of each card is calibrated according to the serial number of the card slot when the card is stored in each card slot, so that the target card slot corresponding to the target card can be determined according to the pre-stored corresponding relation between the card and the card slot after the target card pointed by the card fetching instruction is obtained. After a target card slot for card taking is determined, the motor can be controlled to rotate to enable the target card slot to rotate to a preset card taking station, meanwhile, the card storing and taking device is controlled to move to the preset card taking station, the angular displacement of the output shaft of the motor is calculated according to the operation parameters and the operation time of the motor in the rotating process of the motor, the operation parameters such as rotating speed, power and the like, the chuck is driven to rotate through the torque output by the output shaft in the rotating process of the motor, the number of tooth grooves passing through the preset detection position can be scanned by a sensor of the detection assembly in real time when the chuck rotates, and then the linear displacement of the target card slot can be calculated according to the calibrated distance between every two adjacent.

When a card supplementing command is received, a target card slot pointed by the card supplementing command is obtained, the target card slot can be located in the first chuck or possibly in the second chuck, and cards can be conveniently and quickly supplemented into the target card slot And power and the like, the torque output by the output shaft drives the second chuck to rotate in the rotating process of the motor, the sensor of the second detection assembly can scan the number of second tooth grooves passing through the second preset detection position in real time when the second chuck rotates, and then the linear displacement of the target clamping groove can be calculated according to the calibrated distance between every two adjacent second tooth grooves.

In this embodiment, in order to facilitate the card access device to quickly access the card, and further improve the card access efficiency of the card sender, after the target card slot corresponding to the card access instruction is determined, the angle a of the target card slot relative to the preset card access station is further obtained₁In order to realize quick card taking of the card storing and taking device, the simplest method is to shorten the time of rotating the target card slot to a preset card taking station, and the optimal solution is to rotate the first chuck or the second chuck to the minimum angle as much as possible to enable the target card slot to rotate to the preset card taking station, for example, the first chuck or the second chuck is always rotated to an angle less than 180 degrees, namely when the angle is more than 0 degrees and less than a degrees₁When the angle is less than 180 degrees, the motor is controlled to rotate anticlockwise so as to rotate the target card slot to a preset card taking station, and a is more than or equal to 180 degrees₁When the angle is less than 360 degrees, the motor is controlled to rotate clockwise to rotate the target clamping groove to the preset valueAnd a card taking station.

Similarly, in order to facilitate quick card supplement of the card storing and taking device and further improve the card supplement efficiency of the card sender, after the target card slot corresponding to the card supplement instruction is determined, the angle a of the target card slot relative to the preset card supplement station is further obtained₂In order to realize quick card supplement of the card storing and taking device, the simplest method is to shorten the time of rotating the target card slot to the preset card supplementing station, and the optimal solution is to rotate the first chuck or the second chuck to the minimum angle as much as possible to rotate the target card slot to the preset card supplementing station, for example, the first chuck or the second chuck is always rotated to an angle less than 180 degrees, namely when the angle is more than 0 degrees and less than a degrees₂When the angle is less than 180 degrees, the motor is controlled to rotate anticlockwise so as to rotate the target card slot to a preset card supplementing station, and a is more than or equal to 180 degrees₂When the angle is less than 360 degrees, the motor is controlled to rotate clockwise so as to rotate the target card slot to a preset card supplementing station.

Further, referring to fig. 7, a second embodiment of the step S50 based on the control method of the card issuer according to the above embodiment includes:

s54: when a card supplementing command is received, taking an empty card slot with the smallest relative angle with a preset card supplementing station in the first chuck or the second chuck as a target card slot;

s55: controlling a motor to rotate anticlockwise or clockwise to rotate the target card slot to a preset card supplementing station, and calculating the angular displacement of an output shaft of the motor according to the operation parameters and the operation time of the motor;

In this embodiment, after the card issuing machine completes the checking operation of the cards in the chucks through the sensors in the first detection assembly and the second detection assembly, the obtained card slot and card information in the first chuck and the second chuck are transmitted to the processor or the electronic control module of the card issuing machine to obtain the empty card slot information in the first chuck and the second chuck, when a card supplementing command is received, in order to conveniently and quickly supplement the cards to the empty card slots in a disorder manner, the empty card slot with the smallest relative angle with the preset card supplementing station can be used as a target card slot, the target card slot can be located in the first chuck or the second chuck, then the motor is controlled to rotate the target card slot to the preset card supplementing station, meanwhile, the card access device is controlled to move to the preset card supplementing station, and the angular displacement of the motor output shaft is calculated according to the operation parameters and the operation time of the motor during the rotation of the motor, the operation parameters such as rotating speed, power and the like drive the first chuck and the second chuck to rotate through the torque output by the output shaft in the rotating process of the motor, when the first chuck and the second chuck rotate, the sensors of the first detection assembly and the second detection assembly can scan the number of first tooth grooves passing through the first preset detection position and the number of second tooth grooves passing through the second detection position in real time, and then the rotating linear displacement of the target clamping groove can be calculated according to the calibrated distance between two adjacent tooth grooves. In this embodiment, after the cards are added to the empty card slot out of order through the card sender, the cards are numbered according to the number information marked on the card slot, so that the cards can be taken quickly according to the card information subsequently.

and when the target card slot is the card slot of the second chuck, calculating the linear displacement of the target card slot according to the first tooth slot number of the rotation of the first chuck recorded by the first detection assembly and the difference compensation value, such as calculating the linear displacement of the rotation of the first chuck according to the first tooth slot number, and then adding or subtracting the difference compensation value to the linear displacement to obtain the linear displacement of the target card slot.

Further, the step of calculating the linear displacement of the target card slot according to the number of tooth grooves of the chuck rotation recorded by the second detection component comprises:

when the target card slot is the card slot of the first chuck, calculating the linear displacement of the target card slot according to the second number of the rotating grooves of the second chuck recorded by the second detection assembly and the difference compensation value, and calculating the linear displacement of the rotating grooves of the second chuck according to the second number of the grooves, and then adding the linear displacement to the difference compensation value or subtracting the difference compensation value to obtain the linear displacement of the target card slot;

In this embodiment, in the process of rotating a target card slot to a preset card taking station or a preset card supplementing station, obtaining an angular displacement of an output shaft of a motor and a linear displacement of the target card slot, and controlling a card access device to take or supplement a card from the preset card taking/supplementing station when the angular displacement and the linear displacement are matched, and judging whether the angular displacement and the linear displacement of the target card slot are matched in two ways, one is to compare an angle error obtained by converting the angular displacement and the linear displacement of the target card slot with a first preset threshold value, and when the angle error is smaller than the first preset threshold value, judging that the angular displacement and the linear displacement are matched, and further controlling the card access device to take the card from the preset card taking station or supplement the card from the preset card supplementing station; and the other method is that the length error of the linear displacement converted from the angular displacement of the motor output shaft is compared with a second preset threshold value, and when the length error is smaller than the second preset threshold value, the linear displacement and the angular displacement are judged to be matched, so that the card access device is controlled to fetch the card from the preset card fetching station or supplement the card from the preset card supplementing station.

In addition, an embodiment of the present invention further provides a storage medium, where a control program of a card sender is stored, and the control program, when executed by a processor, implements the steps of the control method of the card sender as described above.

The method for implementing the control program when executed may refer to various embodiments of the control method of the card sender of the present invention, and will not be described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The control method of the card sender is characterized by comprising a first chuck and a second chuck for storing cards, a motor for driving the first chuck and the second chuck to synchronously rotate, and a card access device for taking/supplementing the cards, wherein the first chuck and the second chuck are respectively provided with a card slot for storing the cards, the first chuck is further provided with a first protrusion for marking the zero point position of the card slot, the second chuck is further provided with a second protrusion for marking the zero point position, and the control method of the card sender comprises the following steps:

2. The control method according to claim 1, wherein the card sender further comprises a first detection component arranged at a first preset detection position, and a second detection component arranged at a second preset detection position;

3. The control method according to claim 2, wherein the first chuck comprises a first annular partition, a second annular partition and a third annular partition which are sequentially surrounded from inside to outside, the first annular partition, the second annular partition and the third annular partition are respectively provided with a plurality of clamping grooves, and the number ratio of the clamping grooves of the first annular partition, the second annular partition and the third annular partition is 1: 2: 3, the peripheries of one sides, close to the first detection assembly, of the first annular partition, the second annular partition and the third annular partition are provided with first tooth sockets corresponding to the clamping grooves;

4. The control method according to claim 3, wherein after controlling the motor to rotate the slot zero position of the second chuck to the second preset detection position, the control method further comprises:

5. The control method according to claim 4, wherein the step of controlling the motor to rotate the target card slot to a preset card taking/supplementing station and acquiring the angular displacement of the output shaft of the motor and the linear displacement of the target card slot when receiving the card taking/supplementing command comprises the steps of:

6. The method as claimed in claim 5, wherein the step of controlling the motor to rotate the target card slot to the preset card retrieving/supplementing station comprises:

7. The control method according to claim 4, wherein the step of controlling the motor to rotate the target card slot to a preset card supplementing station and acquiring the angular displacement of the output shaft of the motor and the linear displacement of the target card slot when receiving the card supplementing command comprises the steps of:

8. The method of claim 5 or 7, wherein the step of calculating the linear displacement of the target card slot from the number of tooth slots of chuck rotation recorded by the first sensing assembly comprises:

9. The method according to any one of claims 1 to 7, wherein the step of controlling the card access device to pick up or replenish cards from the preset card pick-up/replenish station when the angular displacement matches the linear displacement comprises:

10. A card sender, comprising a first chuck and a second chuck for storing cards, a motor for driving the first chuck and the second chuck to rotate synchronously, and a card access device for taking/supplementing cards, wherein the first chuck and the second chuck each have a card slot for storing cards, the first chuck is further provided with a first protrusion for marking a zero position of the card slot, the second chuck is further provided with a second protrusion for marking a zero position, the card sender further comprises a memory, a processor, and a control program of the card sender stored in the memory and operable on the processor, and the control program of the card sender, when executed by the processor, implements the steps of the control method of the card sender according to any one of claims 1 to 9.